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<div class="title">height_map_2d.h</div>  </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2013-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * height_map_2d.h</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * Created on: Nov 30, 2012</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> * Author: Matteo Munaro</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_PEOPLE_HEIGHT_MAP_2D_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_PEOPLE_HEIGHT_MAP_2D_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/people/person_cluster.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>people</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">class </span>HeightMap2D;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html">   58</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1people_1_1_height_map2_d.html">HeightMap2D</a></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloud&gt; PointCloudPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloud&gt; PointCloudConstPtr;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a10f956ce6d7351b97974bc1cb8fbae79">HeightMap2D</a>();</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#aaf568139e5a1106ad60e1d12741ef1b0">~HeightMap2D</a> ();</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#ab9941599e003ecf088022bf6ceca9358">compute</a> (<a class="code" href="classpcl_1_1people_1_1_person_cluster.html">pcl::people::PersonCluster&lt;PointT&gt;</a>&amp; cluster);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a42342359c091b6e6fb79247735559b78">searchLocalMaxima</a> ();</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a01d741d570707f05001e3771c9307aaa">filterMaxima</a> ();</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a94cb420797b29aeedd1275f9cf884c2b">setInputCloud</a> (PointCloudPtr&amp; cloud);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#aa6d4ab7506cc5c2088db813aa7c9b009">setGround</a> (Eigen::VectorXf&amp; ground_coeffs);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a85dc9f7b0b41c56dd9cd1159c7412464">setBinSize</a> (<span class="keywordtype">float</span> bin_size);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#acd6d90075dc41c9b445443e27dec6c64">setMinimumDistanceBetweenMaxima</a> (<span class="keywordtype">float</span> minimum_distance_between_maxima);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a9631039bfaa4068582015156c4cc74e7">setSensorPortraitOrientation</a> (<span class="keywordtype">bool</span> vertical);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      std::vector&lt;int&gt;&amp;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#ab04328b1db616152c6d1d7ba8dd781a0">getHeightMap</a> ();</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a94b1d4eabbdccc8617db5a9e3f64f400">getBinSize</a> ();</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#ac9cfa038d0c7ce24f084e061be345b2e">getMinimumDistanceBetweenMaxima</a> ();</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keywordtype">int</span>&amp;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a96d4d813f2307acb6a1442f54357c625">getMaximaNumberAfterFiltering</a> ();</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      std::vector&lt;int&gt;&amp;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a61f73b3dc7139567b6fb222f7d51119d">getMaximaCloudIndicesFiltered</a> ();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#a2be4e03aba2ebd03b9f0bf19b6ed58a3">  164</a></span>&#160;      Eigen::VectorXf <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a2be4e03aba2ebd03b9f0bf19b6ed58a3">ground_coeffs_</a>;            </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      </div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#a4d65da09105b010a4f9657ae32d25278">  167</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a4d65da09105b010a4f9657ae32d25278">sqrt_ground_coeffs_</a>;              </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      </div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#a1cccf7c592dc1300c23c64f53133e73d">  170</a></span>&#160;      PointCloudPtr <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a1cccf7c592dc1300c23c64f53133e73d">cloud_</a>;                </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      </div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#a97d135e43746f62899f72d867ae7e323">  173</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a97d135e43746f62899f72d867ae7e323">vertical_</a>;                    </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      </div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#ae9308efc42c7152617268167c4e96700">  176</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#ae9308efc42c7152617268167c4e96700">buckets_</a>;              </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      </div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#a87dc840b3cce79567561638ae228f25c">  179</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a87dc840b3cce79567561638ae228f25c">buckets_cloud_indices_</a>;      </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      </div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#aeb065abde2a1badcbdbc2b0248f54eb2">  182</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#aeb065abde2a1badcbdbc2b0248f54eb2">bin_size_</a>;                  </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      </div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#a984166d37121881bd2956dcb49eb71b6">  185</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a984166d37121881bd2956dcb49eb71b6">maxima_number_</a>;                  </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      </div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#a508228dc2370e7bc1f2c220f84e00eb8">  188</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a508228dc2370e7bc1f2c220f84e00eb8">maxima_indices_</a>;          </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#aef71fe9b039cda726c72d9740d3c1eb2">  191</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#aef71fe9b039cda726c72d9740d3c1eb2">maxima_cloud_indices_</a>;        </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      </div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#a7e37fa65b78506bc8e390427e1a6f9e8">  194</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a7e37fa65b78506bc8e390427e1a6f9e8">maxima_number_after_filtering_</a>;          </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      </div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#a7c92055b8e5118ac6d212638b8ba95d5">  197</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a7c92055b8e5118ac6d212638b8ba95d5">maxima_indices_filtered_</a>;      </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#a37f8e3c53a4efe79d839fb9667c318c4">  200</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a37f8e3c53a4efe79d839fb9667c318c4">maxima_cloud_indices_filtered_</a>;  </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      </div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_height_map2_d.html#a85e102236ae27c94dd76400de03cdbb8">  203</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_height_map2_d.html#a85e102236ae27c94dd76400de03cdbb8">min_dist_between_maxima_</a>;            </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    };</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  } <span class="comment">/* namespace people */</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;} <span class="comment">/* namespace pcl */</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="preprocessor">#include &lt;pcl/people/impl/height_map_2d.hpp&gt;</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_PEOPLE_HEIGHT_MAP_2D_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html">pcl::people::HeightMap2D</a></div><div class="ttdoc">HeightMap2D represents a class for creating a 2D height map from a point cloud and searching for its ...</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a01d741d570707f05001e3771c9307aaa"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a01d741d570707f05001e3771c9307aaa">pcl::people::HeightMap2D::filterMaxima</a></div><div class="ttdeci">void filterMaxima()</div><div class="ttdoc">Filter maxima of the height map by imposing a minimum distance between them.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:203</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a10f956ce6d7351b97974bc1cb8fbae79"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a10f956ce6d7351b97974bc1cb8fbae79">pcl::people::HeightMap2D::HeightMap2D</a></div><div class="ttdeci">HeightMap2D()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a1cccf7c592dc1300c23c64f53133e73d"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a1cccf7c592dc1300c23c64f53133e73d">pcl::people::HeightMap2D::cloud_</a></div><div class="ttdeci">PointCloudPtr cloud_</div><div class="ttdoc">pointer to the input cloud</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:170</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a2be4e03aba2ebd03b9f0bf19b6ed58a3"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a2be4e03aba2ebd03b9f0bf19b6ed58a3">pcl::people::HeightMap2D::ground_coeffs_</a></div><div class="ttdeci">Eigen::VectorXf ground_coeffs_</div><div class="ttdoc">ground plane coefficients</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a37f8e3c53a4efe79d839fb9667c318c4"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a37f8e3c53a4efe79d839fb9667c318c4">pcl::people::HeightMap2D::maxima_cloud_indices_filtered_</a></div><div class="ttdeci">std::vector&lt; int &gt; maxima_cloud_indices_filtered_</div><div class="ttdoc">contains the point cloud position of the maxima after filtering</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a42342359c091b6e6fb79247735559b78"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a42342359c091b6e6fb79247735559b78">pcl::people::HeightMap2D::searchLocalMaxima</a></div><div class="ttdeci">void searchLocalMaxima()</div><div class="ttdoc">Compute local maxima of the height map.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:119</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a4d65da09105b010a4f9657ae32d25278"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a4d65da09105b010a4f9657ae32d25278">pcl::people::HeightMap2D::sqrt_ground_coeffs_</a></div><div class="ttdeci">float sqrt_ground_coeffs_</div><div class="ttdoc">ground plane normalization factor</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:167</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a508228dc2370e7bc1f2c220f84e00eb8"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a508228dc2370e7bc1f2c220f84e00eb8">pcl::people::HeightMap2D::maxima_indices_</a></div><div class="ttdeci">std::vector&lt; int &gt; maxima_indices_</div><div class="ttdoc">contains the position of the maxima in the buckets vector</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a61f73b3dc7139567b6fb222f7d51119d"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a61f73b3dc7139567b6fb222f7d51119d">pcl::people::HeightMap2D::getMaximaCloudIndicesFiltered</a></div><div class="ttdeci">std::vector&lt; int &gt; &amp; getMaximaCloudIndicesFiltered()</div><div class="ttdoc">Return the point cloud indices corresponding to the maxima computed after the filterMaxima method.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:303</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a7c92055b8e5118ac6d212638b8ba95d5"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a7c92055b8e5118ac6d212638b8ba95d5">pcl::people::HeightMap2D::maxima_indices_filtered_</a></div><div class="ttdeci">std::vector&lt; int &gt; maxima_indices_filtered_</div><div class="ttdoc">contains the position of the maxima in the buckets array after filtering</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a7e37fa65b78506bc8e390427e1a6f9e8"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a7e37fa65b78506bc8e390427e1a6f9e8">pcl::people::HeightMap2D::maxima_number_after_filtering_</a></div><div class="ttdeci">int maxima_number_after_filtering_</div><div class="ttdoc">number of local maxima after filtering</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a85dc9f7b0b41c56dd9cd1159c7412464"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a85dc9f7b0b41c56dd9cd1159c7412464">pcl::people::HeightMap2D::setBinSize</a></div><div class="ttdeci">void setBinSize(float bin_size)</div><div class="ttdoc">Set bin size for the height map.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:261</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a85e102236ae27c94dd76400de03cdbb8"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a85e102236ae27c94dd76400de03cdbb8">pcl::people::HeightMap2D::min_dist_between_maxima_</a></div><div class="ttdeci">float min_dist_between_maxima_</div><div class="ttdoc">minimum allowed distance between maxima</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a87dc840b3cce79567561638ae228f25c"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a87dc840b3cce79567561638ae228f25c">pcl::people::HeightMap2D::buckets_cloud_indices_</a></div><div class="ttdeci">std::vector&lt; int &gt; buckets_cloud_indices_</div><div class="ttdoc">indices of the pointcloud points with maximum height for every bin</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a94b1d4eabbdccc8617db5a9e3f64f400"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a94b1d4eabbdccc8617db5a9e3f64f400">pcl::people::HeightMap2D::getBinSize</a></div><div class="ttdeci">float getBinSize()</div><div class="ttdoc">Get bin size for the height map.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:285</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a94cb420797b29aeedd1275f9cf884c2b"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a94cb420797b29aeedd1275f9cf884c2b">pcl::people::HeightMap2D::setInputCloud</a></div><div class="ttdeci">void setInputCloud(PointCloudPtr &amp;cloud)</div><div class="ttdoc">Set initial cluster indices.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:248</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a9631039bfaa4068582015156c4cc74e7"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a9631039bfaa4068582015156c4cc74e7">pcl::people::HeightMap2D::setSensorPortraitOrientation</a></div><div class="ttdeci">void setSensorPortraitOrientation(bool vertical)</div><div class="ttdoc">Set sensor orientation to landscape mode (false) or portrait mode (true).</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:273</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a96d4d813f2307acb6a1442f54357c625"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a96d4d813f2307acb6a1442f54357c625">pcl::people::HeightMap2D::getMaximaNumberAfterFiltering</a></div><div class="ttdeci">int &amp; getMaximaNumberAfterFiltering()</div><div class="ttdoc">Return the maxima number after the filterMaxima method.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:297</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a97d135e43746f62899f72d867ae7e323"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a97d135e43746f62899f72d867ae7e323">pcl::people::HeightMap2D::vertical_</a></div><div class="ttdeci">bool vertical_</div><div class="ttdoc">if true, the sensor is considered to be vertically placed (portrait mode)</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_a984166d37121881bd2956dcb49eb71b6"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#a984166d37121881bd2956dcb49eb71b6">pcl::people::HeightMap2D::maxima_number_</a></div><div class="ttdeci">int maxima_number_</div><div class="ttdoc">number of local maxima in the height map</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_aa6d4ab7506cc5c2088db813aa7c9b009"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#aa6d4ab7506cc5c2088db813aa7c9b009">pcl::people::HeightMap2D::setGround</a></div><div class="ttdeci">void setGround(Eigen::VectorXf &amp;ground_coeffs)</div><div class="ttdoc">Set the ground coefficients.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:254</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_aaf568139e5a1106ad60e1d12741ef1b0"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#aaf568139e5a1106ad60e1d12741ef1b0">pcl::people::HeightMap2D::~HeightMap2D</a></div><div class="ttdeci">virtual ~HeightMap2D()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:309</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_ab04328b1db616152c6d1d7ba8dd781a0"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#ab04328b1db616152c6d1d7ba8dd781a0">pcl::people::HeightMap2D::getHeightMap</a></div><div class="ttdeci">std::vector&lt; int &gt; &amp; getHeightMap()</div><div class="ttdoc">Get the height map as a vector of int.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:279</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_ab9941599e003ecf088022bf6ceca9358"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#ab9941599e003ecf088022bf6ceca9358">pcl::people::HeightMap2D::compute</a></div><div class="ttdeci">void compute(pcl::people::PersonCluster&lt; PointT &gt; &amp;cluster)</div><div class="ttdoc">Compute the height map with the projection of cluster points onto the ground plane.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:59</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_ac9cfa038d0c7ce24f084e061be345b2e"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#ac9cfa038d0c7ce24f084e061be345b2e">pcl::people::HeightMap2D::getMinimumDistanceBetweenMaxima</a></div><div class="ttdeci">float getMinimumDistanceBetweenMaxima()</div><div class="ttdoc">Get minimum distance between maxima of the height map.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:291</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_acd6d90075dc41c9b445443e27dec6c64"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#acd6d90075dc41c9b445443e27dec6c64">pcl::people::HeightMap2D::setMinimumDistanceBetweenMaxima</a></div><div class="ttdeci">void setMinimumDistanceBetweenMaxima(float minimum_distance_between_maxima)</div><div class="ttdoc">Set minimum distance between maxima.</div><div class="ttdef"><b>Definition:</b> height_map_2d.hpp:267</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_ae9308efc42c7152617268167c4e96700"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#ae9308efc42c7152617268167c4e96700">pcl::people::HeightMap2D::buckets_</a></div><div class="ttdeci">std::vector&lt; int &gt; buckets_</div><div class="ttdoc">vector with maximum height values for every bin (height map)</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_aeb065abde2a1badcbdbc2b0248f54eb2"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#aeb065abde2a1badcbdbc2b0248f54eb2">pcl::people::HeightMap2D::bin_size_</a></div><div class="ttdeci">float bin_size_</div><div class="ttdoc">bin dimension</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_height_map2_d_html_aef71fe9b039cda726c72d9740d3c1eb2"><div class="ttname"><a href="classpcl_1_1people_1_1_height_map2_d.html#aef71fe9b039cda726c72d9740d3c1eb2">pcl::people::HeightMap2D::maxima_cloud_indices_</a></div><div class="ttdeci">std::vector&lt; int &gt; maxima_cloud_indices_</div><div class="ttdoc">contains the point cloud position of the maxima (indices of the point cloud)</div><div class="ttdef"><b>Definition:</b> height_map_2d.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html">pcl::people::PersonCluster</a></div><div class="ttdoc">PersonCluster represents a class for representing information about a cluster containing a person.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:60</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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